This paper proposes a method for independent drive of two permanent magnet synchronous motors (PMSMs) fed by a single five-leg inverter (5LI) based on reducing peak current of common leg. The advantages of 5LI are reduced size, volume, reduced number of devices, and increased efficiency due to total lower losses. The conventional method that has been used for controlling two PMSMs sends a large amount of current through a common leg, so the peak current of common leg exceeds safe operating area of 5LI. In this paper, the method of reducing peak current of common leg strategy by reducing peak current of common leg for control of two motors using 5LI is presented. The novelty of the proposed controller and the simulation results are presented.